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In this report, we introduce a comprehensive design framework forEvent-Triggered Networked Control Systems based on the passivity-based conceptof Input Feed-Forward Output Feedback Passive (IF-OFP) systems. Our approach iscomprehensive in the sense that we show finite-gain $L_2$-stability androbustness for the networked control system by considering the effects oftime-varying or constant network induced delays, signal quantizations, and datalosses in communication links from the plant to controller and the controllerto plant. Our design is based on the need for a more efficient utilization ofband-limited shared communication networks which is a necessity for the designof Large-Scale Cyber-Physical systems. To achieve this, we introduce simpletriggering conditions that do not require the exact knowledge of thesub-systems and are located on both sides of the communication network: theplant's output and the controller's output. This specifically leads to a greatdecrease in the communication rate between the controller and plant.Additionally, we show lower-bounds on inter-event time intervals for thetriggering conditions and show the design's robustness against external noiseand disturbance. We illustrate the relationship amongst stability, robustnessand passivity levels for the plant and controller. We analyze our design'srobustness against packet dropouts and loss of communication. Our results aredesign-oriented in the sense that based on our proposed framework, the designercan easily observe the trade-offs amongst different components of the networkedcontrol system, time-varying delays, effects of signal quantizations andtriggering conditions, stability, robustness and performance of networkedcontrol system and make design decisions accordingly.

A Passivity-Based Design for Stability and Robustness in Event-Triggered  Networked Control Systems with Communication Delays, Signal Quantizations and  Packet Dropouts